The problem addressed is that of finding the centre of a poorly defined path, for the purpose of allowing a vehicle to navigate the path autonomously. A cross-path profile is processed by some form of edge-enhancement, and thresholded. The poor definition of a semi-natural path means that applicable methods should not use small-scalelength detail, but rather should look at broad features and trends of the scene. The algorithm described arises from considering various possible 'abstract' properties of a scene. It is postulated that, if a vehicle has safely reached a given point, the future path would probably continue to be safe in the direction of maximum scene symmetry. The algorithm has been used to guide a small electric vehicle along a roughly painted track indoors. The fast-Fourier transform (of 32 pixels), with phase-unwrapping, took, less than 20 msec on a PDP LSI 11.
A Fourier-transform based method for autonomous path following
Verfahren fuer die automatische Wegverfolgung auf der Basis der Fourier-Transformation
IEE Colloquium on 'Off-Highway Vehicle Control Systems' ; no.92 ; 5/1-5/10
1989
, 1 Quelle
Aufsatz (Konferenz)
Englisch
Guidance-based path following for autonomous underwater vehicles
Tema Archiv | 2005
|Path following controller for autonomous vehicles
IEEE | 2019
|Path Following for Autonomous Marine Craft
British Library Conference Proceedings | 2001
|